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<div class="title">trajectory_parameters_t Struct Reference<div class="ingroups"><a class="el" href="group__APPLICATIONS.html">APPLICATIONS</a> &raquo; <a class="el" href="group__TRAJECTORY__MONITOR.html">TRAJECTORY_MONITOR</a> &#124; <a class="el" href="group__MESSAGES.html">MESSAGES</a> &raquo; <a class="el" href="group__TRAJECTORY__MESSAGES.html">TRAJECTORY_MESSAGES</a></div></div>  </div>
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<p>trajectory parameters  
 <a href="structtrajectory__parameters__t.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="trajectory__msg_8h_source.html">trajectory_msg.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a3d3daa7ab710f8e61a374907b7dc976c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3d3daa7ab710f8e61a374907b7dc976c"></a>
uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>TlmHeader</b> [CFE_SB_TLM_HDR_SIZE]</td></tr>
<tr class="separator:a3d3daa7ab710f8e61a374907b7dc976c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a272885852b6b671eed5fe7089db89d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9a272885852b6b671eed5fe7089db89d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a9a272885852b6b671eed5fe7089db89d">obsbuffer</a></td></tr>
<tr class="memdesc:a9a272885852b6b671eed5fe7089db89d"><td class="mdescLeft">&#160;</td><td class="mdescRight">buffer [m] added to obstacle (obstacle sides are expanded by this much) <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a18188ad02170c53f5653068de3271985">maxCeiling</a></td></tr>
<tr class="memdesc:a18188ad02170c53f5653068de3271985"><td class="mdescLeft">&#160;</td><td class="mdescRight">Max ceiling for flight [m]. <br /></td></tr>
<tr class="separator:a18188ad02170c53f5653068de3271985"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af87fcad6b35c4cc97c6ca21e47f9ab97"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af87fcad6b35c4cc97c6ca21e47f9ab97"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#af87fcad6b35c4cc97c6ca21e47f9ab97">astar_enable3D</a></td></tr>
<tr class="memdesc:af87fcad6b35c4cc97c6ca21e47f9ab97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable 3D search for A star algorithm (not used in grid search) <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a4799a85c2f8a572c8ccac3fb610fd342">astar_gridSize</a></td></tr>
<tr class="memdesc:a4799a85c2f8a572c8ccac3fb610fd342"><td class="mdescLeft">&#160;</td><td class="mdescRight">A star grid size for grid search (m) <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#aaa391b3cd4fb80e5e4d3c3cca6d26f1c">astar_resSpeed</a></td></tr>
<tr class="memdesc:aaa391b3cd4fb80e5e4d3c3cca6d26f1c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ownship speed used for A star search (m/s) <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#af221985f6bbd15e747ca180d5d133e09">astar_lookahead</a></td></tr>
<tr class="memdesc:af221985f6bbd15e747ca180d5d133e09"><td class="mdescLeft">&#160;</td><td class="mdescRight">Lookahead time in seconds (s) <br /></td></tr>
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char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a601e67029e34b0e67c789f3c2872c520">astar_daaConfigFile</a> [50]</td></tr>
<tr class="memdesc:a601e67029e34b0e67c789f3c2872c520"><td class="mdescLeft">&#160;</td><td class="mdescRight">DAA configuration file for A star serach. <br /></td></tr>
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<tr class="memitem:a4195f1b6556df8f05a8f8d7089be8e4a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4195f1b6556df8f05a8f8d7089be8e4a"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a4195f1b6556df8f05a8f8d7089be8e4a">rrt_resSpeed</a></td></tr>
<tr class="memdesc:a4195f1b6556df8f05a8f8d7089be8e4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ownship speed used for RRT search. <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a438a0dc7e84b139c5fc3fb9801971f87">rrt_numIterations</a></td></tr>
<tr class="memdesc:a438a0dc7e84b139c5fc3fb9801971f87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Total number of RRT iterations. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a92c749cda8c08636f0920a06716b0dcb">rrt_dt</a></td></tr>
<tr class="memdesc:a92c749cda8c08636f0920a06716b0dcb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time step values in (s) used in one Range Kutta integration. <br /></td></tr>
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<tr class="memitem:ad5ab4e0d8cf4094eede3370ebf109180"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5ab4e0d8cf4094eede3370ebf109180"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#ad5ab4e0d8cf4094eede3370ebf109180">rrt_macroSteps</a></td></tr>
<tr class="memdesc:ad5ab4e0d8cf4094eede3370ebf109180"><td class="mdescLeft">&#160;</td><td class="mdescRight">Total number of Runga Kutta integration steps in one RRT iteration. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a8ada3b86819d8274187f380461e9a1ad">rrt_capR</a></td></tr>
<tr class="memdesc:a8ada3b86819d8274187f380461e9a1ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Capture circle radius (s) for final goal. <br /></td></tr>
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<tr class="memitem:a2c371e0b2cf6fd4e7c3936f9879cf73e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2c371e0b2cf6fd4e7c3936f9879cf73e"></a>
char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a2c371e0b2cf6fd4e7c3936f9879cf73e">rrt_daaConfigFile</a> [50]</td></tr>
<tr class="memdesc:a2c371e0b2cf6fd4e7c3936f9879cf73e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Input DAA configuration file for RRT search. <br /></td></tr>
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<tr class="memitem:a69e90b7810335d4661dcdb524a07c82d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a69e90b7810335d4661dcdb524a07c82d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a69e90b7810335d4661dcdb524a07c82d">xtrkDev</a></td></tr>
<tr class="memdesc:a69e90b7810335d4661dcdb524a07c82d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Allowed cross track deviation. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#a157506fe318fffee5f5692ab85f42f23">xtrkGain</a></td></tr>
<tr class="memdesc:a157506fe318fffee5f5692ab85f42f23"><td class="mdescLeft">&#160;</td><td class="mdescRight">Proportional gain used for cross track deviation maneuver computation. <br /></td></tr>
<tr class="separator:a157506fe318fffee5f5692ab85f42f23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad16eaacbaf04802bfac27ad4c2510e3e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad16eaacbaf04802bfac27ad4c2510e3e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#ad16eaacbaf04802bfac27ad4c2510e3e">resSpeed</a></td></tr>
<tr class="memdesc:ad16eaacbaf04802bfac27ad4c2510e3e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resolution speed when returning to flight plan. <br /></td></tr>
<tr class="separator:ad16eaacbaf04802bfac27ad4c2510e3e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7013a20f40dd9da414f289804fc502d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af7013a20f40dd9da414f289804fc502d"></a>
uint8_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structtrajectory__parameters__t.html#af7013a20f40dd9da414f289804fc502d">searchAlgorithm</a></td></tr>
<tr class="memdesc:af7013a20f40dd9da414f289804fc502d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Algorithm used for computing a new path. <br /></td></tr>
<tr class="separator:af7013a20f40dd9da414f289804fc502d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>trajectory parameters </p>
</div><hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/research133/Software/Icarous2/cFS/apps/inc/msgdef/<a class="el" href="trajectory__msg_8h_source.html">trajectory_msg.h</a></li>
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